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Plane: chan param converison

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Iampete1 2021-03-12 22:21:08 +00:00 committed by Andrew Tridgell
parent 733db3de19
commit 660d301f9b
1 changed files with 26 additions and 43 deletions
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69
ArduPlane/Parameters.cpp
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@ -1263,7 +1263,7 @@ ParametersG2::ParametersG2(void) :
The second column below is the index in the var_info[] table for the
old object. This should be zero for top level parameters.
*/
const AP_Param::ConversionInfo conversion_table[] = {
static const AP_Param::ConversionInfo conversion_table[] = {
{ Parameters::k_param_log_bitmask_old, 0, AP_PARAM_INT16, "LOG_BITMASK" },
{ Parameters::k_param_rally_limit_km_old, 0, AP_PARAM_FLOAT, "RALLY_LIMIT_KM" },
{ Parameters::k_param_rally_total_old, 0, AP_PARAM_INT8, "RALLY_TOTAL" },
@ -1315,6 +1315,22 @@ const AP_Param::ConversionInfo conversion_table[] = {
{ Parameters::k_param_fence_autoenable, 0, AP_PARAM_INT8, "FENCE_AUTOENABLE"},
};
struct RCConversionInfo {
uint16_t old_key; // k_param_*
uint32_t old_group_element; // index in old object
RC_Channel::AUX_FUNC fun; // new function
};
static const RCConversionInfo rc_option_conversion[] = {
{ Parameters::k_param_flapin_channel_old, 0, RC_Channel::AUX_FUNC::FLAP},
{ Parameters::k_param_g2, 968, RC_Channel::AUX_FUNC::SOARING},
{ Parameters::k_param_fence_channel, 0, RC_Channel::AUX_FUNC::FENCE},
{ Parameters::k_param_reset_mission_chan, 0, RC_Channel::AUX_FUNC::MISSION_RESET},
{ Parameters::k_param_parachute_channel, 0, RC_Channel::AUX_FUNC::PARACHUTE_RELEASE},
{ Parameters::k_param_fbwa_tdrag_chan, 0, RC_Channel::AUX_FUNC::FBWA_TAILDRAGGER},
{ Parameters::k_param_reset_switch_chan, 0, RC_Channel::AUX_FUNC::MODE_SWITCH_RESET},
};
void Plane::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
@ -1357,48 +1373,15 @@ void Plane::load_parameters(void)
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_PLANE);
// Convert flap to RCx_OPTION
AP_Int8 flap_output;
AP_Param::ConversionInfo flap_info = {
Parameters::k_param_flapin_channel_old,
0,
AP_PARAM_INT8,
nullptr
};
if (AP_Param::find_old_parameter(&flap_info, &flap_output) && flap_output.get() != 0) {
RC_Channel *flapin = rc().channel(flap_output - 1);
if (flapin != nullptr && !flapin->option.configured()) {
flapin->option.set_and_save((int16_t)RC_Channel::AUX_FUNC::FLAP); // save the new param
}
}
// Convert SOAR_ENABLE_CH to RCx_OPTION
AP_Int8 soar_enable_ch;
AP_Param::ConversionInfo soar_info = {
Parameters::k_param_g2,
968,
AP_PARAM_INT8,
nullptr
};
if (AP_Param::find_old_parameter(&soar_info, &soar_enable_ch) && soar_enable_ch.get() != 0) {
RC_Channel *soar_ch = rc().channel(soar_enable_ch - 1);
if (soar_ch != nullptr && !soar_ch->option.configured()) {
soar_ch->option.set_and_save((int16_t)RC_Channel::AUX_FUNC::SOARING); // save the new param
}
}
// Convert fence to RCx_OPTION
AP_Int8 fence_enable_ch;
AP_Param::ConversionInfo fence_channel_info = {
Parameters::k_param_fence_channel,
0,
AP_PARAM_INT8,
nullptr
};
if (AP_Param::find_old_parameter(&fence_channel_info, &fence_enable_ch) && fence_enable_ch.get() != 0) {
RC_Channel *fence_ch = rc().channel(fence_enable_ch - 1);
if (fence_ch != nullptr && !fence_ch->option.configured()) {
fence_ch->option.set_and_save((int16_t)RC_Channel::AUX_FUNC::FENCE); // save the new param
// Convert chan params to RCx_OPTION
for (uint8_t i=0; i<ARRAY_SIZE(rc_option_conversion); i++) {
AP_Int8 chan_param;
AP_Param::ConversionInfo info {rc_option_conversion[i].old_key, rc_option_conversion[i].old_group_element, AP_PARAM_INT8, nullptr};
if (AP_Param::find_old_parameter(&info, &chan_param) && chan_param.get() > 0) {
RC_Channel *chan = rc().channel(chan_param.get() - 1);
if (chan != nullptr && !chan->option.configured()) {
chan->option.set_and_save((int16_t)rc_option_conversion[i].fun); // save the new param
}
}
}